Development of a Control System for an Innovative Parallel Robot Used in Prostate Biopsy

The paper presents the development of the control system of a new parallel robot used in prostate biopsy. The control system uses the inverse and forward kinematic models implemented in Matlab/Simulink and integrated in the Automation Studio Target for Simulink kit from Bernecker & Rainer in order to create the code that can be further implemented into X20 Programmable Logic Controller series. The BIO-PROS 1 parallel robot is a complex system composed of two independent kinematic chains working together in order to fulfil the medical requirements of the prostate biopsy procedure.